specify planning pipelines to use (#157)

Kinovarobotics · Aug 9, 2023 · b71d636 · b71d636
1 parent 62a602f
commit b71d636
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py
@@ -52,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
     moveit_config = (
         MoveItConfigsBuilder("gen3", package_name="kinova_gen3_6dof_robotiq_2f_85_moveit_config")
         .robot_description(mappings=launch_arguments)
-        .planning_pipelines(pipelines=["ompl"])
+        .planning_pipelines(pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"])
         .to_moveit_configs()
     )
 

diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/robot.launch.py b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/robot.launch.py
@@ -52,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
     moveit_config = (
         MoveItConfigsBuilder("gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config")
         .robot_description(mappings=launch_arguments)
-        .planning_pipelines(pipelines=["ompl"])
+        .planning_pipelines(pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"])
         .to_moveit_configs()
     )